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cruiseToStop:{type:"EmergencyStopCruiseToStop",id:4}},nested:{ReasonCode:{values:{ESTOP_REASON_INTERNAL_ERR:1,ESTOP_REASON_COLLISION:2,ESTOP_REASON_ST_FIND_PATH:3,ESTOP_REASON_ST_MAKE_DECISION:4,ESTOP_REASON_SENSOR_ERROR:5}}}},MainCruise:{fields:{changeLaneType:{type:"apollo.routing.ChangeLaneType",id:1}}},MainChangeLane:{fields:{type:{type:"Type",id:1},defaultLane:{rule:"repeated",type:"TargetLane",id:2},defaultLaneStop:{type:"MainStop",id:3},targetLaneStop:{type:"MainStop",id:4}},nested:{Type:{values:{LEFT:1,RIGHT:2}}}},MainMissionComplete:{fields:{stopPoint:{type:"apollo.common.PointENU",id:1},stopHeading:{type:"double",id:2}}},MainNotReady:{fields:{reason:{type:"string",id:1}}},MainParking:{fields:{status:{type:"ParkingStatus",id:1}},nested:{ParkingStatus:{values:{IN_PARKING:1}}}},MainDecision:{oneofs:{task:{oneof:["cruise","stop","estop","changeLane","missionComplete","notReady","parking"]}},fields:{cruise:{type:"MainCruise",id:1},stop:{type:"MainStop",id:2},estop:{type:"MainEmergencyStop",id:3},changeLane:{type:"MainChangeLane",id:4,options:{deprecated:!0}},missionComplete:{type:"MainMissionComplete",id:6},notReady:{type:"MainNotReady",id:7},parking:{type:"MainParking",id:8},targetLane:{rule:"repeated",type:"TargetLane",id:5,options:{deprecated:!0}}}},DecisionResult:{fields:{mainDecision:{type:"MainDecision",id:1},objectDecision:{type:"ObjectDecisions",id:2},vehicleSignal:{type:"apollo.common.VehicleSignal",id:3}}},DpStSpeedConfig:{fields:{matrixDimensionS:{type:"int32",id:1,options:{default:100}},matrixDimensionT:{type:"int32",id:2,options:{default:10}},speedWeight:{type:"double",id:10,options:{default:0}},accelWeight:{type:"double",id:11,options:{default:10}},jerkWeight:{type:"double",id:12,options:{default:10}},obstacleWeight:{type:"double",id:13,options:{default:1}},referenceWeight:{type:"double",id:14,options:{default:0}},goDownBuffer:{type:"double",id:15,options:{default:5}},goUpBuffer:{type:"double",id:16,options:{default:5}},defaultObstacleCost:{type:"double",id:20,options:{default:1e10}},defaultSpeedCost:{type:"double",id:31,options:{default:1}},exceedSpeedPenalty:{type:"double",id:32,options:{default:10}},lowSpeedPenalty:{type:"double",id:33,options:{default:2.5}},exceedSoftSpeedPenalty:{type:"double",id:34,options:{default:0}},lowSoftSpeedPenalty:{type:"double",id:35,options:{default:0}},referenceSpeedPenalty:{type:"double",id:36,options:{default:1}},keepClearLowSpeedPenalty:{type:"double",id:37,options:{default:10}},accelPenalty:{type:"double",id:40,options:{default:2}},decelPenalty:{type:"double",id:41,options:{default:2}},positiveJerkCoeff:{type:"double",id:50,options:{default:1}},negativeJerkCoeff:{type:"double",id:51,options:{default:300}},maxAcceleration:{type:"double",id:60,options:{default:4.5}},maxDeceleration:{type:"double",id:61,options:{default:-4.5}},safeTimeBuffer:{type:"double",id:70,options:{default:3}},safeDistance:{type:"double",id:71,options:{default:20}}}},FemPosDeviationSmootherConfig:{fields:{weightFemPosDeviation:{type:"double",id:2,options:{default:1e10}},weightRefDeviation:{type:"double",id:3,options:{default:1}},weightPathLength:{type:"double",id:4,options:{default:1}},applyCurvatureConstraint:{type:"bool",id:5,options:{default:!1}},weightCurvatureConstraintSlackVar:{type:"double",id:6,options:{default:100}},curvatureConstraint:{type:"double",id:7,options:{default:.2}},maxIter:{type:"int32",id:10,options:{default:500}},timeLimit:{type:"double",id:11,options:{default:0}},verbose:{type:"bool",id:12,options:{default:!1}},scaledTermination:{type:"bool",id:13,options:{default:!0}},warmStart:{type:"bool",id:14,options:{default:!0}},printLevel:{type:"int32",id:20,options:{default:0}},maxNumOfIterations:{type:"int32",id:21,options:{default:500}},acceptableNumOfIterations:{type:"int32",id:22,options:{default:15}},tol:{type:"double",id:23,options:{default:1e-8}},acceptableTol:{type:"double",id:24,options:{default:.1}}}},LaneChangeDeciderConfig:{fields:{enableLaneChangeUrgencyCheck:{type:"bool",id:1}}},LonCondition:{fields:{s:{type:"double",id:1,options:{default:0}},ds:{type:"double",id:2,options:{default:0}},dds:{type:"double",id:3,options:{default:0}}}},LatCondition:{fields:{l:{type:"double",id:1,options:{default:0}},dl:{type:"double",id:2,options:{default:0}},ddl:{type:"double",id:3,options:{default:0}}}},TStrategy:{fields:{tMarkers:{rule:"repeated",type:"double",id:1,options:{packed:!1}},tStep:{type:"double",id:2,options:{default:.5}},strategy:{type:"string",id:3}}},SStrategy:{fields:{sMarkers:{rule:"repeated",type:"double",id:1,options:{packed:!1}},sStep:{type:"double",id:2,options:{default:.5}},strategy:{type:"string",id:3}}},LonSampleConfig:{fields:{lonEndCondition:{type:"LonCondition",id:1},tStrategy:{type:"TStrategy",id:2}}},LatSampleConfig:{fields:{latEndCondition:{type:"LatCondition",id:1},sStrategy:{type:"SStrategy",id:2}}},LatticeSamplingConfig:{fields:{lonSampleConfig:{type:"LonSampleConfig",id:1},latSampleConfig:{type:"LatSampleConfig",id:2}}},StopPoint:{fields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},maxAccJerk:{type:"double",id:14,options:{default:4}},deltaT:{type:"double",id:15,options:{default:.2}},sCurveConfig:{type:"PiecewiseJerkSpeedConfig",id:16}}},TrajectoryPartitionConfig:{fields:{interpolatedPiecesNum:{type:"uint64",id:1,options:{default:50}},initialGearCheckHorizon:{type:"uint64",id:2,options:{default:3}},headingSearchingRange:{type:"double",id:3,options:{default:.3}},gearShiftPeriodDuration:{type:"double",id:4,options:{default:2}},gearShiftMaxT:{type:"double",id:5,options:{default:3}},gearShiftUnitT:{type:"double",id:6,options:{default:.02}}}},ADCSignals:{fields:{signal:{rule:"repeated",type:"SignalType",id:1,options:{packed:!1}}},nested:{SignalType:{values:{LEFT_TURN:1,RIGHT_TURN:2,LOW_BEAM_LIGHT:3,HIGH_BEAM_LIGHT:4,FOG_LIGHT:5,EMERGENCY_LIGHT:6}}}},EStop:{fields:{isEstop:{type:"bool",id:1},reason:{type:"string",id:2}}},TaskStats:{fields:{name:{type:"string",id:1},timeMs:{type:"double",id:2}}},LatencyStats:{fields:{totalTimeMs:{type:"double",id:1},taskStats:{rule:"repeated",type:"TaskStats",id:2},initFrameTimeMs:{type:"double",id:3}}},RSSInfo:{fields:{isRssSafe:{type:"bool",id:1},curDistLon:{type:"double",id:2},rssSafeDistLon:{type:"double",id:3},accLonRangeMinimum:{type:"double",id:4},accLonRangeMaximum:{type:"double",id:5},accLatLeftRangeMinimum:{type:"double",id:6},accLatLeftRangeMaximum:{type:"double",id:7},accLatRightRangeMinimum:{type:"double",id:8},accLatRightRangeMaximum:{type:"double",id:9}}},ADCTrajectory:{fields:{header:{type:"apollo.common.Header",id:1},totalPathLength:{type:"double",id:2},totalPathTime:{type:"double",id:3},trajectoryPoint:{rule:"repeated",type:"apollo.common.TrajectoryPoint",id:12},estop:{type:"EStop",id:6},pathPoint:{rule:"repeated",type:"apollo.common.PathPoint",id:13},isReplan:{type:"bool",id:9,options:{default:!1}},replanReason:{type:"string",id:22},gear:{type:"apollo.canbus.Chassis.GearPosition",id:10},decision:{type:"apollo.planning.DecisionResult",id:14},latencyStats:{type:"LatencyStats",id:15},routingHeader:{type:"apollo.common.Header",id:16},debug:{type:"apollo.planning_internal.Debug",id:8},rightOfWayStatus:{type:"RightOfWayStatus",id:17},laneId:{rule:"repeated",type:"apollo.hdmap.Id",id:18},engageAdvice:{type:"apollo.common.EngageAdvice",id:19},criticalRegion:{type:"CriticalRegion",id:20},trajectoryType:{type:"TrajectoryType",id:21,options:{default:"UNKNOWN"}},rssInfo:{type:"RSSInfo",id:100}},nested:{RightOfWayStatus:{values:{UNPROTECTED:0,PROTECTED:1}},CriticalRegion:{fields:{region:{rule:"repeated",type:"apollo.common.Polygon",id:1}}},TrajectoryType:{values:{UNKNOWN:0,NORMAL:1,PATH_FALLBACK:2,SPEED_FALLBACK:3}}}},PathDeciderConfig:{fields:{}},TaskConfig:{oneofs:{taskConfig:{oneof:["dpStSpeedConfig","pathDeciderConfig","proceedWithCautionSpeedConfig","creepDeciderConfig","openSpacePreStopDeciderConfig","speedBoundsDeciderConfig","piecewiseJerkPathConfig","pathBoundsDeciderConfig","openSpaceFallbackDeciderConfig","openSpaceRoiDeciderConfig","openSpaceTrajectoryProviderConfig","openSpaceTrajectoryPartitionConfig","pathAssessmentDeciderConfig","piecewiseJerkSpeedConfig","pathLaneBorrowDeciderConfig","laneChangeDeciderConfig","ruleBasedStopDeciderConfig"]}},fields:{taskType:{type:"TaskType",id:1},dpStSpeedConfig:{type:"DpStSpeedConfig",id:3},pathDeciderConfig:{type:"PathDeciderConfig",id:7},proceedWithCautionSpeedConfig:{type:"ProceedWithCautionSpeedConfig",id:8},creepDeciderConfig:{type:"CreepDeciderConfig",id:10},openSpacePreStopDeciderConfig:{type:"OpenSpacePreStopDeciderConfig",id:11},speedBoundsDeciderConfig:{type:"SpeedBoundsDeciderConfig",id:15},piecewiseJerkPathConfig:{type:"PiecewiseJerkPathConfig",id:16},pathBoundsDeciderConfig:{type:"PathBoundsDeciderConfig",id:17},openSpaceFallbackDeciderConfig:{type:"OpenSpaceFallBackDeciderConfig",id:18},openSpaceRoiDeciderConfig:{type:"OpenSpaceRoiDeciderConfig",id:19},openSpaceTrajectoryProviderConfig:{type:"OpenSpaceTrajectoryProviderConfig",id:20},openSpaceTrajectoryPartitionConfig:{type:"OpenSpaceTrajectoryPartitionConfig",id:21},pathAssessmentDeciderConfig:{type:"PathAssessmentDeciderConfig",id:22},piecewiseJerkSpeedConfig:{type:"PiecewiseJerkSpeedConfig",id:23},pathLaneBorrowDeciderConfig:{type:"PathLaneBorrowDeciderConfig",id:24},laneChangeDeciderConfig:{type:"LaneChangeDeciderConfig",id:25},ruleBasedStopDeciderConfig:{type:"RuleBasedStopDeciderConfig",id:26}},nested:{TaskType:{values:{DP_ST_SPEED_OPTIMIZER:1,PATH_DECIDER:4,SPEED_DECIDER:5,NAVI_PATH_DECIDER:7,NAVI_SPEED_DECIDER:8,NAVI_OBSTACLE_DECIDER:9,CREEP_DECIDER:11,OPEN_SPACE_PRE_STOP_DECIDER:12,PROCEED_WITH_CAUTION_SPEED:15,DECIDER_RSS:16,SPEED_BOUNDS_PRIORI_DECIDER:17,SPEED_BOUNDS_FINAL_DECIDER:18,PIECEWISE_JERK_PATH_OPTIMIZER:19,PATH_BOUNDS_DECIDER:20,OPEN_SPACE_ROI_DECIDER:21,OPEN_SPACE_TRAJECTORY_PROVIDER:22,OPEN_SPACE_TRAJECTORY_PARTITION:23,OPEN_SPACE_FALLBACK_DECIDER:24,PATH_ASSESSMENT_DECIDER:25,PATH_LANE_BORROW_DECIDER:26,PIECEWISE_JERK_SPEED_OPTIMIZER:27,LANE_CHANGE_DECIDER:28,RULE_BASED_STOP_DECIDER:29}}}},ScenarioLaneFollowConfig:{fields:{}},ScenarioBareIntersectionUnprotectedConfig:{fields:{startBareIntersectionScenarioDistance:{type:"double",id:1,options:{default:25}},enableExplicitStop:{type:"bool",id:2,options:{default:!1}},minPassSDistance:{type:"double",id:3,options:{default:3}},approachSpeedLimit:{type:"double",id:4,options:{default:6.7056}},stopDistance:{type:"double",id:5,options:{default:.5}},stopTimeoutSec:{type:"float",id:6,options:{default:8}},creepTimeoutSec:{type:"float",id:7,options:{default:10}}}},ScenarioStopSignUnprotectedConfig:{fields:{startStopSignScenarioDistance:{type:"double",id:1,options:{default:5}},watchVehicleMaxValidStopDistance:{type:"double",id:2,options:{default:5}},maxValidStopDistance:{type:"double",id:3,options:{default:3.5}},maxAdcStopSpeed:{type:"double",id:4,options:{default:.3}},stopDurationSec:{type:"float",id:5,options:{default:1}},minPassSDistance:{type:"double",id:6,options:{default:3}},stopTimeoutSec:{type:"float",id:7,options:{default:8}},creepTimeoutSec:{type:"float",id:8,options:{default:10}}}},ScenarioTrafficLightProtectedConfig:{fields:{startTrafficLightScenarioDistance:{type:"double",id:1,options:{default:5}},maxValidStopDistance:{type:"double",id:2,options:{default:2}},maxAdcStopSpeed:{type:"double",id:3,options:{default:.3}},minPassSDistance:{type:"double",id:4,options:{default:3}}}},ScenarioTrafficLightUnprotectedLeftTurnConfig:{fields:{startTrafficLightScenarioDistance:{type:"double",id:1,options:{default:5}},maxValidStopDistance:{type:"double",id:2,options:{default:3.5}},maxAdcStopSpeed:{type:"double",id:3,options:{default:.3}},minPassSDistance:{type:"double",id:4,options:{default:3}},creepTimeoutSec:{type:"float",id:5,options:{default:10}}}},ScenarioTrafficLightUnprotectedRightTurnConfig:{fields:{startTrafficLightScenarioDistance:{type:"double",id:1,options:{default:5}},enableRightTurnOnRed:{type:"bool",id:2,options:{default:!1}},maxValidStopDistance:{type:"double",id:3,options:{default:3.5}},maxAdcStopSpeed:{type:"double",id:4,options:{default:.3}},minPassSDistance:{type:"double",id:5,options:{default:3}},redLightRightTurnStopDurationSec:{type:"float",id:6,options:{default:3}},creepTimeoutSec:{type:"float",id:7,options:{default:10}}}},ScenarioPullOverConfig:{fields:{startPullOverScenarioDistance:{type:"double",id:1,options:{default:50}},pullOverMinDistanceBuffer:{type:"double",id:2,options:{default:10}},maxDistanceStopSearch:{type:"double",id:3,options:{default:25}},maxAdcStopSpeed:{type:"double",id:4,options:{default:.1}},maxSErrorToEndPoint:{type:"double",id:5,options:{default:.2}},maxLErrorToEndPoint:{type:"double",id:6,options:{default:.5}},maxThetaErrorToEndPoint:{type:"double",id:7,options:{default:.2}},maxDistanceErrorToEndPoint:{type:"double",id:8,options:{default:.2}},passDestinationThreshold:{type:"double",id:9,options:{default:10}},maxValidStopDistance:{type:"double",id:10,options:{default:1}},sDistanceToStopForOpenSpaceParking:{type:"double",id:11,options:{default:7}}}},ScenarioValetParkingConfig:{fields:{parkingSpotRangeToStart:{type:"double",id:1,options:{default:20}},maxValidStopDistance:{type:"double",id:2,options:{default:1}},maxAdcStopSpeed:{type:"double",id:3,options:{default:.1}}}},ScenarioNarrowStreetUTurnConfig:{fields:{}},ScenarioConfig:{oneofs:{scenarioConfig:{oneof:["laneFollowConfig","bareIntersectionUnprotectedConfig","stopSignUnprotectedConfig","trafficLightProtectedConfig","trafficLightUnprotectedRightTurnConfig","trafficLightUnprotectedLeftTurnConfig","pullOverConfig","valetParkingConfig","narrowStreetUTurnConfig"]}},fields:{scenarioType:{type:"ScenarioType",id:1},laneFollowConfig:{type:"ScenarioLaneFollowConfig",id:2},bareIntersectionUnprotectedConfig:{type:"ScenarioBareIntersectionUnprotectedConfig",id:4},stopSignUnprotectedConfig:{type:"ScenarioStopSignUnprotectedConfig",id:5},trafficLightProtectedConfig:{type:"ScenarioTrafficLightProtectedConfig",id:6},trafficLightUnprotectedRightTurnConfig:{type:"ScenarioTrafficLightUnprotectedRightTurnConfig",id:7},trafficLightUnprotectedLeftTurnConfig:{type:"ScenarioTrafficLightUnprotectedLeftTurnConfig",id:8},pullOverConfig:{type:"ScenarioPullOverConfig",id:9},valetParkingConfig:{type:"ScenarioValetParkingConfig",id:10},narrowStreetUTurnConfig:{type:"ScenarioNarrowStreetUTurnConfig",id:11},stageType:{rule:"repeated",type:"StageType",id:12,options:{packed:!1}},stageConfig:{rule:"repeated",type:"StageConfig",id:13}},nested:{ScenarioType:{values:{LANE_FOLLOW:0,CHANGE_LANE:1,BARE_INTERSECTION_UNPROTECTED:3,STOP_SIGN_PROTECTED:4,STOP_SIGN_UNPROTECTED:5,TRAFFIC_LIGHT_PROTECTED:6,TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN:7,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN:8,YIELD_SIGN_UNPROTECTED:9,PULL_OVER:10,VALET_PARKING:11,NARROW_STREET_U_TURN:12}},StageType:{values:{NO_STAGE:0,LANE_FOLLOW_DEFAULT_STAGE:1,BARE_INTERSECTION_UNPROTECTED_APPROACH:200,BARE_INTERSECTION_UNPROTECTED_CREEP:201,BARE_INTERSECTION_UNPROTECTED_INTERSECTION_CRUISE:202,STOP_SIGN_UNPROTECTED_PRE_STOP:300,STOP_SIGN_UNPROTECTED_STOP:301,STOP_SIGN_UNPROTECTED_CREEP:302,STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE:303,TRAFFIC_LIGHT_PROTECTED_APPROACH:400,TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISE:401,TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP:410,TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE:411,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP:420,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP:421,TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE:422,PULL_OVER_APPROACH:500,PULL_OVER_RETRY_APPROACH_PARKING:501,PULL_OVER_RETRY_PARKING:502,VALET_PARKING_APPROACHING_PARKING_SPOT:510,VALET_PARKING_PARKING:511}},StageConfig:{fields:{stageType:{type:"StageType",id:1},enabled:{type:"bool",id:2,options:{default:!0}},taskType:{rule:"repeated",type:"TaskConfig.TaskType",id:3,options:{packed:!1}},taskConfig:{rule:"repeated",type:"TaskConfig",id:4}}}}},PlannerPublicRoadConfig:{fields:{scenarioType:{rule:"repeated",type:"ScenarioConfig.ScenarioType",id:1,options:{packed:!1}}}},PlannerNaviConfig:{fields:{task:{rule:"repeated",type:"TaskConfig.TaskType",id:1,options:{packed:!1}},naviPathDeciderConfig:{type:"NaviPathDeciderConfig",id:2},naviSpeedDeciderConfig:{type:"NaviSpeedDeciderConfig",id:3},naviObstacleDeciderConfig:{type:"NaviObstacleDeciderConfig",id:4}}},PlannerType:{values:{RTK:0,PUBLIC_ROAD:1,NAVI:2,LATTICE:3}},RtkPlanningConfig:{fields:{plannerType:{type:"PlannerType",id:1}}},StandardPlanningConfig:{fields:{plannerType:{rule:"repeated",type:"PlannerType",id:1,options:{packed:!1}},plannerPublicRoadConfig:{type:"PlannerPublicRoadConfig",id:2}}},NavigationPlanningConfig:{fields:{plannerType:{rule:"repeated",type:"PlannerType",id:1,options:{packed:!1}},plannerNaviConfig:{type:"PlannerNaviConfig",id:4}}},PlanningConfig:{oneofs:{planningConfig:{oneof:["rtkPlanningConfig","standardPlanningConfig","navigationPlanningConfig"]}},fields:{rtkPlanningConfig:{type:"RtkPlanningConfig",id:1},standardPlanningConfig:{type:"StandardPlanningConfig",id:2},navigationPlanningConfig:{type:"NavigationPlanningConfig",id:3},defaultTaskConfig:{rule:"repeated",type:"TaskConfig",id:5}}},StatsGroup:{fields:{max:{type:"double",id:1},min:{type:"double",id:2,options:{default:1e10}},sum:{type:"double",id:3},avg:{type:"double",id:4},num:{type:"int32",id:5}}},PlanningStats:{fields:{totalPathLength:{type:"StatsGroup",id:1},totalPathTime:{type:"StatsGroup",id:2},v:{type:"StatsGroup",id:3},a:{type:"StatsGroup",id:4},kappa:{type:"StatsGroup",id:5},dkappa:{type:"StatsGroup",id:6}}},BareIntersectionStatus:{fields:{currentPncJunctionOverlapId:{type:"string",id:1},donePncJunctionOverlapId:{type:"string",id:2}}},ChangeLaneStatus:{fields:{status:{type:"Status",id:1},pathId:{type:"string",id:2},timestamp:{type:"double",id:3}},nested:{Status:{values:{IN_CHANGE_LANE:1,CHANGE_LANE_FAILED:2,CHANGE_LANE_SUCCESS:3}}}},StopTime:{fields:{obstacleId:{type:"string",id:1},obstacleStopTimestamp:{type:"double",id:2}}},CrosswalkStatus:{fields:{crosswalkId:{type:"string",id:1},stopTime:{rule:"repeated",type:"StopTime",id:2},finishedCrosswalk:{rule:"repeated",type:"string",id:3}}},DestinationStatus:{fields:{hasPassedDestination:{type:"bool",id:1,options:{default:!1}}}},PedestrianStatus:{fields:{stopTime:{rule:"repeated",type:"StopTime",id:1}}},PullOverStatus:{fields:{isFeasible:{type:"bool",id:1,options:{default:!1}},position:{type:"apollo.common.PointENU",id:2},theta:{type:"double",id:3},lengthFront:{type:"double",id:4},lengthBack:{type:"double",id:5},widthLeft:{type:"double",id:6},widthRight:{type:"double",id:7},idx:{type:"int32",id:8},isInPullOverScenario:{type:"bool",id:9,options:{default:!1}}}},ReroutingStatus:{fields:{lastReroutingTime:{type:"double",id:1},needRerouting:{type:"bool",id:2,options:{default:!1}},routingRequest:{type:"apollo.routing.RoutingRequest",id:3}}},RightOfWayStatus:{fields:{junction:{keyType:"string",type:"bool",id:1}}},ScenarioStatus:{fields:{scenarioType:{type:"ScenarioConfig.ScenarioType",id:1},stageType:{type:"ScenarioConfig.StageType",id:2}}},SidePassStatus:{fields:{frontBlockingObstacleId:{type:"string",id:1}}},StopSignStatus:{fields:{currentStopSignOverlapId:{type:"string",id:1},doneStopSignOverlapId:{type:"string",id:2},waitForObstacleId:{rule:"repeated",type:"string",id:3}}},TrafficLightStatus:{fields:{currentTrafficLightOverlapId:{rule:"repeated",type:"string",id:1},doneTrafficLightOverlapId:{rule:"repeated",type:"string",id:2}}},SidePassStopStatus:{fields:{changeLaneStopPathPoint:{type:"apollo.common.PathPoint",id:1},checkClearFlag:{type:"bool",id:2}}},PlanningStatus:{fields:{bareIntersection:{type:"BareIntersectionStatus",id:1},changeLane:{type:"ChangeLaneStatus",id:2},crosswalk:{type:"CrosswalkStatus",id:3},destination:{type:"DestinationStatus",id:4},engageAdvice:{type:"apollo.common.EngageAdvice",id:5},pedestrian:{type:"PedestrianStatus",id:6},pullOver:{type:"PullOverStatus",id:7},rerouting:{type:"ReroutingStatus",id:8},rightOfWay:{type:"RightOfWayStatus",id:9},scenario:{type:"ScenarioStatus",id:10},sidePass:{type:"SidePassStatus",id:11},stopSign:{type:"StopSignStatus",id:12},trafficLi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aneDirection",id:19},leftRoadSample:{rule:"repeated",type:"LaneSampleAssociation",id:20},rightRoadSample:{rule:"repeated",type:"LaneSampleAssociation",id:21},selfReverseLaneId:{rule:"repeated",type:"Id",id:22}},nested:{LaneType:{values:{NONE:1,CITY_DRIVING:2,BIKING:3,SIDEWALK:4,PARKING:5,SHOULDER:6}},LaneTurn:{values:{NO_TURN:1,LEFT_TURN:2,RIGHT_TURN:3,U_TURN:4}},LaneDirection:{values:{FORWARD:1,BACKWARD:2,BIDIRECTION:3}}}},LaneOverlapInfo:{fields:{startS:{type:"double",id:1},endS:{type:"double",id:2},isMerge:{type:"bool",id:3},regionOverlapId:{type:"Id",id:4}}},SignalOverlapInfo:{fields:{}},StopSignOverlapInfo:{fields:{}},CrosswalkOverlapInfo:{fields:{regionOverlapId:{type:"Id",id:1}}},JunctionOverlapInfo:{fields:{}},YieldOverlapInfo:{fields:{}},ClearAreaOverlapInfo:{fields:{}},SpeedBumpOverlapInfo:{fields:{}},ParkingSpaceOverlapInfo:{fields:{}},PNCJunctionOverlapInfo:{fields:{}},RegionOverlapInfo:{fields:{id:{type:"Id",id:1},polygon:{rule:"repeated",type:"Polygon",id:2}}},ObjectOverlapInfo:{oneofs:{overlapInfo:{oneof:["laneOverlapInfo","signalOverlapInfo","stopSignOverlapInfo","crosswalkOverlapInfo","junctionOverlapInfo","yieldSignOverlapInfo","clearAreaOverlapInfo","speedBumpOverlapInfo","parkingSpaceOverlapInfo","pncJunctionOverlapInfo"]}},fields:{id:{type:"Id",id:1},laneOverlapInfo:{type:"LaneOverlapInfo",id:3},signalOverlapInfo:{type:"SignalOverlapInfo",id:4},stopSignOverlapInfo:{type:"StopSignOverlapInfo",id:5},crosswalkOverlapInfo:{type:"CrosswalkOverlapInfo",id:6},junctionOverlapInfo:{type:"JunctionOverlapInfo",id:7},yieldSignOverlapInfo:{type:"YieldOverlapInfo",id:8},clearAreaOverlapInfo:{type:"ClearAreaOverlapInfo",id:9},speedBumpOverlapInfo:{type:"SpeedBumpOverlapInfo",id:10},parkingSpaceOverlapInfo:{type:"ParkingSpaceOverlapInfo",id:11},pncJunctionOverlapInfo:{type:"PNCJunctionOverlapInfo",id:12}}},Overlap:{fields:{id:{type:"Id",id:1},object:{rule:"repeated",type:"ObjectOverlapInfo",id:2},regionOverlap:{rule:"repeated",type:"RegionOverlapInfo",id:3}}},ParkingSpace:{fields:{id:{type:"Id",id:1},polygon:{type:"Polygon",id:2},overlapId:{rule:"repeated",type:"Id",id:3},heading:{type:"double",id:4}}},ParkingLot:{fields:{id:{type:"Id",id:1},polygon:{type:"Polygon",id:2},overlapId:{rule:"repeated",type:"Id",id:3}}},Passage:{fields:{id:{type:"Id",id:1},signalId:{rule:"repeated",type:"Id",id:2},yieldId:{rule:"repeated",type:"Id",id:3},stopSignId:{rule:"repeated",type:"Id",id:4},laneId:{rule:"repeated",type:"Id",id:5},type:{type:"Type",id:6}},nested:{Type:{values:{UNKNOWN:0,ENTRANCE:1,EXIT:2}}}},PassageGroup:{fields:{id:{type:"Id",id:1},passage:{rule:"repeated",type:"Passage",id:2}}},PNCJunction:{fields:{id:{type:"Id",id:1},polygon:{type:"Polygon",id:2},overlapId:{rule:"repeated",type:"Id",id:3},passageGroup:{rule:"repeated",type:"PassageGroup",id:4}}},BoundaryEdge:{fields:{curve:{type:"Curve",id:1},type:{type:"Type",id:2}},nested:{Type:{values:{UNKNOWN:0,NORMAL:1,LEFT_BOUNDARY:2,RIGHT_BOUNDARY:3}}}},BoundaryPolygon:{fields:{edge:{rule:"repeated",type:"BoundaryEdge",id:1}}},RoadBoundary:{fields:{outerPolygon:{type:"BoundaryPolygon",id:1},hole:{rule:"repeated",type:"BoundaryPolygon",id:2}}},RoadROIBoundary:{fields:{id:{type:"Id",id:1},roadBoundaries:{rule:"repeated",type:"RoadBoundary",id:2}}},RoadSection:{fields:{id:{type:"Id",id:1},laneId:{rule:"repeated",type:"Id",id:2},boundary:{type:"RoadBoundary",id:3}}},Road:{fields:{id:{type:"Id",id:1},section:{rule:"repeated",type:"RoadSection",id:2},junctionId:{type:"Id",id:3},type:{type:"Type",id:4}},nested:{Type:{values:{UNKNOWN:0,HIGHWAY:1,CITY_ROAD:2,PARK:3}}}},Subsignal:{fields:{id:{type:"Id",id:1},type:{type:"Type",id:2},location:{type:"apollo.common.PointENU",id:3}},nested:{Type:{values:{UNKNOWN:1,CIRCLE:2,ARROW_LEFT:3,ARROW_FORWARD:4,ARROW_RIGHT:5,ARROW_LEFT_AND_FORWARD:6,ARROW_RIGHT_AND_FORWARD:7,ARROW_U_TURN:8}}}},SignInfo:{fields:{type:{type:"Type",id:1}},nested:{Type:{values:{None:0,NO_RIGHT_TURN_ON_RED:1}}}},Signal:{fields:{id:{type:"Id",id:1},boundary:{type:"apollo.hdmap.Polygon",id:2},subsignal:{rule:"repeated",type:"Subsignal",id:3},overlapId:{rule:"repeated",type:"Id",id:4},type:{type:"Type",id:5},stopLine:{rule:"repeated",type:"Curve",id:6},signInfo:{rule:"repeated",type:"SignInfo",id:7}},nested:{Type:{values:{UNKNOWN:1,MIX_2_HORIZONTAL:2,MIX_2_VERTICAL:3,MIX_3_HORIZONTAL:4,MIX_3_VERTICAL:5,SINGLE:6}}}},SpeedBump:{fields:{id:{type:"Id",id:1},overlapId:{rule:"repeated",type:"Id",id:2},position:{rule:"repeated",type:"Curve",id:3}}},SpeedControl:{fields:{name:{type:"string",id:1},polygon:{type:"apollo.hdmap.Polygon",id:2},speedLimit:{type:"double",id:3}}},SpeedControls:{fields:{speedControl:{rule:"repeated",type:"SpeedControl",id:1}}},StopSign:{fields:{id:{type:"Id",id:1},stopLine:{rule:"repeated",type:"Curve",id:2},overlapId:{rule:"repeated",type:"Id",id:3},type:{type:"StopType",id:4}},nested:{StopType:{values:{UNKNOWN:0,ONE_WAY:1,TWO_WAY:2,THREE_WAY:3,FOUR_WAY:4,ALL_WAY:5}}}},YieldSign:{fields:{id:{type:"Id",id:1},stopLine:{rule:"repeated",type:"Curve",id:2},overlapId:{rule:"repeated",type:"Id",id:3}}}}},prediction:{nested:{Lane:{fields:{currentLaneFeature:{rule:"repeated",type:"LaneFeature",id:1},laneFeature:{type:"LaneFeature",id:2},nearbyLaneFeature:{rule:"repeated",type:"LaneFeature",id:3},laneGraph:{type:"LaneGraph",id:4},laneGraphOrdered:{type:"LaneGraph",id:5},labelUpdateTimeDelta:{type:"double",id:26}}},LaneFeature:{fields:{laneId:{type:"string",id:1},laneTurnType:{type:"uint32",id:2},laneS:{type:"double",id:3},laneL:{type:"double",id:4},angleDiff:{type:"double",id:5},distToLeftBoundary:{type:"double",id:6},distToRightBoundary:{type:"double",id:7},laneHeading:{type:"double",id:8},laneType:{type:"apollo.hdmap.Lane.LaneType",id:9}}},JunctionExit:{fields:{exitLaneId:{type:"string",id:1},exitPosition:{type:"apollo.common.Point3D",id:2},exitHeading:{type:"double",id:3},exitWidth:{type:"double",id:4}}},JunctionFeature:{fields:{junctionId:{type:"string",id:1},junctionRange:{type:"double",id:2},enterLane:{type:"LaneFeature",id:3},junctionExit:{rule:"repeated",type:"JunctionExit",id:4},junctionMlpFeature:{rule:"repeated",type:"double",id:5,options:{packed:!1}},junctionMlpLabel:{rule:"repeated",type:"int32",id:6,options:{packed:!1}},junctionMlpProbability:{rule:"repeated",type:"double",id:7,options:{packed:!1}},startLaneId:{rule:"repeated",type:"string",id:8}}},ObstaclePriority:{fields:{priority:{type:"Priority",id:25,options:{default:"NORMAL"}}},nested:{Priority:{values:{CAUTION:1,NORMAL:2,IGNORE:3}}}},Trajectory:{fields:{probability:{type:"double",id:1},trajectoryPoint:{rule:"repeated",type:"apollo.common.TrajectoryPoint",id:2}}},Feature:{fields:{id:{type:"int32",id:1},polygonPoint:{rule:"repeated",type:"apollo.common.Point3D",id:30},position:{type:"apollo.common.Point3D",id:2},frontPosition:{type:"apollo.common.Point3D",id:27},velocity:{type:"apollo.common.Point3D",id:3},rawVelocity:{type:"apollo.common.Point3D",id:28},acceleration:{type:"apollo.common.Point3D",id:4},velocityHeading:{type:"double",id:5},speed:{type:"double",id:6},acc:{type:"double",id:7},theta:{type:"double",id:8},length:{type:"double",id:9},width:{type:"double",id:10},height:{type:"double",id:11},trackingTime:{type:"double",id:12},timestamp:{type:"double",id:13},lane:{type:"Lane",id:14},junctionFeature:{type:"JunctionFeature",id:26},tPosition:{type:"apollo.common.Point3D",id:16},tVelocity:{type:"apollo.common.Point3D",id:17,options:{deprecated:!0}},tVelocityHeading:{type:"double",id:18,options:{deprecated:!0}},tSpeed:{type:"double",id:19,options:{deprecated:!0}},tAcceleration:{type:"apollo.common.Point3D",id:20,options:{deprecated:!0}},tAcc:{type:"double",id:21,options:{deprecated:!0}},isStill:{type:"bool",id:22,options:{default:!1}},type:{type:"apollo.perception.PerceptionObstacle.Type",id:23},labelUpdateTimeDelta:{type:"double",id:24},priority:{type:"ObstaclePriority",id:25},isNearJunction:{type:"bool",id:29,options:{default:!1}},futureTrajectoryPoints:{rule:"repeated",type:"PredictionTrajectoryPoint",id:31},shortTermPredictedTrajectoryPoints:{rule:"repeated",type:"apollo.common.TrajectoryPoint",id:32},predictedTrajectory:{rule:"repeated",type:"Trajectory",id:33},adcTrajectoryPoint:{rule:"repeated",type:"apollo.common.TrajectoryPoint",id:34}}},ObstacleHistory:{fields:{feature:{rule:"repeated",type:"Feature",id:1},isTrainable:{type:"bool",id:2,options:{default:!1}}}},FrameEnv:{fields:{timestamp:{type:"double",id:1},egoHistory:{type:"ObstacleHistory",id:2},obstaclesHistory:{rule:"repeated",type:"ObstacleHistory",id:3}}},LanePoint:{fields:{position:{type:"apollo.common.Point3D",id:1},heading:{type:"double",id:2,options:{default:0}},width:{type:"double",id:3,options:{default:0}},relativeS:{type:"double",id:4,options:{default:0}},relativeL:{type:"double",id:5,options:{default:0}},angleDiff:{type:"double",id:6,options:{default:0}},kappa:{type:"double",id:7,options:{default:0}},scenarioType:{type:"ScenarioType",id:8},speedLimit:{type:"double",id:9}},nested:{ScenarioType:{values:{URBAN_ROAD:0,JUNCTION:1,HIGHWAY:2}}}},LaneSegment:{fields:{laneId:{type:"string",id:1},startS:{type:"double",id:2,options:{default:0}},endS:{type:"double",id:3,options:{default:0}},laneTurnType:{type:"uint32",id:4,options:{default:0}},lanePoint:{rule:"repeated",type:"LanePoint",id:5},adcS:{type:"double",id:7,options:{default:0}},adcLanePointIdx:{type:"int32",id:8,options:{default:0}},totalLength:{type:"double",id:6,options:{default:0}}}},NearbyObstacle:{fields:{id:{type:"int32",id:1},s:{type:"double",id:2},l:{type:"double",id:3}}},StopSign:{fields:{stopSignId:{type:"string",id:1},laneId:{type:"string",id:2},laneS:{type:"double",id:3},laneSequenceS:{type:"double",id:4}}},LaneSequence:{fields:{laneSequenceId:{type:"int32",id:1},laneSegment:{rule:"repeated",type:"LaneSegment",id:2},adcLaneSegmentIdx:{type:"int32",id:23,options:{default:0}},pathPoint:{rule:"repeated",type:"apollo.common.PathPoint",id:8},laneType:{type:"apollo.hdmap.Lane.LaneType",id:22},laneS:{type:"double",id:17},laneL:{type:"double",id:18},vehic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